Yaw control method and device for wind turbine generator set

Abstract

A yaw control method and device for a wind turbine generator set are provided. The yaw control method comprises: when the wind turbine generator set enters a shutdown idling state and there are blades that are not in a feathered position, determining whether the real-time wind speed value exceeds a preset wind speed threshold; when the real-time wind speed value does not exceed the preset wind speed threshold, maintaining the yaw attitude of the wind turbine generator set to continue to be in a straight-to-the-wind state; when the real-time wind speed value exceeds the preset wind speed threshold, adjusting the yaw attitude of the wind turbine generator set to a side-to-the-wind state; after entering the side-to-the-wind state, real-time monitoring is performed to determine whether all blades of the wind turbine generator set are in a feathered position, and adjusting the yaw attitude of the wind turbine generator set according to the monitoring result and the real-time wind speed value; wherein the shutdown idling state is a shutdown state with the impeller idling and the blades retracted.

Description

Technical Field

[0001] The present disclosure generally relates to the field of electric power technology, and more specifically, to a yaw control method and device for a wind turbine generator set. Background Art

[0002] In order to cope with the grid parity of wind power, the impeller diameter and single-unit capacity of wind turbines are constantly increasing, which puts higher requirements on the adaptability, reliability and economy of the units. During the unit development stage, the IEC specifications and national standards took into account a large number of fault operating conditions, including the condition that at the extreme wind speed once a year, there are blades stuck at any pitch angle position, and the remaining unstuck blades are in the feathering position. Under the influence of high wind speeds once a year, the impeller is shut down and idling while the blades are stuck, which will cause aerodynamic imbalance in the impeller surface, resulting in large limit loads on the blades, hub and yaw bearing, and the safety of the unit is difficult to be effectively guaranteed.

[0003] As the impeller diameter and unit capacity increase, the limit load under the condition of impeller shutdown and idling combined with blade stuck fault will increase significantly and become a controlling load, resulting in high costs for the main bearing and yaw system, threatening the unit safety. Therefore, how to suppress the aerodynamic unbalanced force within the impeller surface when the unit is shutdown and idling due to blade stuck fault of wind turbine generator set, reduce the load in the survival state of the unit, and thus reduce the unit development cost, has become an urgent problem to be solved by technicians in this field. Summary of the invention

[0004] An exemplary embodiment of the present disclosure is to provide a yaw control method and device for a wind turbine generator set, which can effectively reduce the aerodynamic unbalance force within the impeller surface and suppress vortex-induced vibration under low wind speeds in scenarios such as blade sticking and unit shutdown and idling.

[0005] According to a first aspect of an embodiment of the present disclosure, a yaw control method for a wind turbine is provided, comprising: when the wind turbine enters a shutdown idling state and there are blades that are not in a feathered position, determining whether a real-time wind speed value exceeds a preset wind speed threshold; when the real-time wind speed value does not exceed the preset wind speed threshold, maintaining the yaw attitude of the wind turbine to continue to be in a straight-on-wind state; when the real-time wind speed value exceeds the preset wind speed threshold, adjusting the yaw attitude of the wind turbine to a sideways-to-wind state; after entering the sideways-to-wind state, monitoring in real time whether all blades of the wind turbine are in a feathered position, and adjusting the yaw attitude of the wind turbine according to the monitoring result and the real-time wind speed value; wherein the shutdown idling state is a shutdown state with the impeller idling and the blades retracted.

[0006] Optionally, the step of adjusting the yaw attitude of the wind turbine generator set according to the monitoring results and the real-time wind speed value includes: when all blades are in the feathered position or the real-time wind speed value does not exceed a preset wind speed threshold, adjusting the yaw attitude of the wind turbine generator set to a state facing the wind.

[0007] Optionally, it also includes: after entering the side-to-wind state, real-time monitoring of whether the cabin acceleration exceeds a preset acceleration threshold; when the cabin acceleration exceeds the preset acceleration threshold, adjusting the yaw attitude along the allowable yaw direction within a preset adjustment range so that the cabin acceleration does not exceed the preset acceleration threshold, wherein the allowable yaw direction is determined according to the real-time yaw condition of the wind turbine.

[0008] Optionally, it also includes: after entering the wind-facing state, real-time monitoring of whether the maintenance and overhaul conditions of the pitch system are met; when the maintenance and overhaul conditions of the pitch system are met, controlling the impeller to enter a locked state to perform maintenance and overhaul of the pitch system.

[0009] Optionally, it also includes: when it is monitored that the shutdown action in response to the shutdown idling control signal has been completed and there is still at least one blade that is not in the feathered position, determining that the wind turbine generator set enters the shutdown idling state and there is a blade that is not in the feathered position, wherein the shutdown idling control signal is generated in response to a blade pitch failure.

[0010] According to a second aspect of an embodiment of the present disclosure, there is provided a yaw control device for a wind turbine generator set, comprising: a wind speed judgment unit, configured to determine whether a real-time wind speed value exceeds a preset wind speed threshold when the wind turbine generator set enters a shutdown idling state and a blade is not in a feathered position; a yaw adjustment unit, configured to: when the real-time wind speed value does not exceed the preset wind speed threshold, maintain the yaw attitude of the wind turbine generator set to continue to be in a straight-on-wind state; when the real-time wind speed value exceeds the preset wind speed threshold, adjust the yaw attitude of the wind turbine generator set to a side-to-wind state; after entering the side-to-wind state, monitor in real time whether all blades of the wind turbine generator set are in a feathered position, and adjust the yaw attitude of the wind turbine generator set according to the monitoring result and the real-time wind speed value; wherein the shutdown idling state is a shutdown state with the impeller idling and the blades retracted.

[0011] Optionally, the yaw adjustment unit is configured to adjust the yaw attitude of the wind turbine generator set to a state facing the wind when all blades are in a feathered position or the real-time wind speed value does not exceed a preset wind speed threshold.

[0012] Optionally, the yaw adjustment unit is further configured to: after entering the side-to-wind state, monitor in real time whether the cabin acceleration exceeds a preset acceleration threshold; when the cabin acceleration exceeds the preset acceleration threshold, adjust the yaw attitude along the allowable yaw direction within a preset adjustment range so that the cabin acceleration does not exceed the preset acceleration threshold, wherein the allowable yaw direction is determined according to the real-time yaw condition of the wind turbine.

[0013] Optionally, it also includes: a maintenance and inspection determination unit, which is configured to: after entering the wind-facing state, monitor in real time whether the maintenance and inspection conditions of the pitch system are met; when the maintenance and inspection conditions of the pitch system are met, control the impeller to enter a locked state to perform maintenance and inspection of the pitch system.

[0014] Optionally, it also includes: a state identification unit, configured to determine that the wind turbine generator set has entered a shutdown idling state and there are blades that are not in the feathered position when it is monitored that the shutdown action in response to the shutdown idling control signal has been completed and there is still at least one blade that is not in the feathered position, wherein the shutdown idling control signal is generated in response to a blade pitch failure.

[0015] Optionally, the yaw control device is arranged in a yaw control system or a main controller of the wind turbine generator set.

[0016] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium storing a computer program is provided. When the computer program is executed by a processor, the processor is prompted to execute the yaw control method of a wind turbine generator set as described above.

[0017] According to a fourth aspect of an embodiment of the present disclosure, a controller is provided, comprising: a processor; and a memory storing a computer program, which, when executed by the processor, prompts the processor to execute the yaw control method of the wind turbine generator set as described above.

[0018] Optionally, the controller is arranged in a yaw control system or a main controller of the wind turbine generator set.

[0019] According to a fifth aspect of an embodiment of the present disclosure, there is provided a wind turbine generator set, comprising the yaw control device as described above, or the controller as described above.

[0020] According to the yaw control method and device of the wind turbine generator set of the exemplary embodiment of the present disclosure, for the scenario of blade stuck and unit shutdown and idling, the aerodynamic load on the unit is changed by adjusting the yaw attitude of the unit to reduce the aerodynamic imbalance in the impeller surface, and the unit vortex-induced vibration is reduced by facing the wind at low wind speed. Therefore, the extreme loads of the blades, hub and yaw in this scenario can be effectively reduced, and the unit development cost can be reduced.

[0021] In addition, real-time monitoring of cabin acceleration has been added, and small-range yaw adjustments will be made when the cabin acceleration exceeds the limit to reduce cabin acceleration and improve unit stability.

[0022] Additional aspects and / or advantages of the present general inventive concept will be set forth in part in the following description and in part will be apparent from the description or may be learned through practice of the present general inventive concept. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and other objects and features of the exemplary embodiments of the present disclosure will become more apparent through the following description in conjunction with the accompanying drawings which exemplarily illustrate the embodiments, in which:

[0024] Figure 1 A flow chart showing a yaw control method of a wind turbine generator system according to an exemplary embodiment of the present disclosure;

[0025] Figure 2 A flow chart showing a yaw control method of a wind turbine generator set according to another exemplary embodiment of the present disclosure;

[0026] Figure 3 A structural block diagram of a yaw control device of a wind turbine generator set according to an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0027] Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like parts throughout. The embodiments will be described below with reference to the drawings in order to explain the present disclosure.

[0028] Figure 1 A flow chart showing a yaw control method of a wind turbine generator system according to an exemplary embodiment of the present disclosure is shown.

[0029] Reference Figure 1 In step S10, it is monitored whether the wind turbine generator set has completely entered the shutdown idling state and whether there are blades that are not in the feathering position.

[0030] For example, a wind turbine generator set may need to enter a shutdown idling state due to a blade pitch change failure (eg, a blade stuck failure). For example, a blade stuck failure may mean that at least one blade of the impeller is stuck at a certain pitch angle position and cannot be pitched.

[0031] The shutdown idling state can be understood as a shutdown state in which the impeller is idling and the propellers are retracted. In the shutdown idling state, all the unstuck blades are in the feathered position, the impeller is facing the wind, and the hub is not locked (i.e., not stuck).

[0032] As an example, when it is detected that the shutdown action in response to the shutdown idling control signal has been completed, but at least one blade is still not in the feathered position, it can be determined that the wind turbine generator set enters the shutdown idling state and there is a blade that is not in the feathered position. For example, the shutdown idling control signal is generated in response to a blade pitch failure.

[0033] In one embodiment, when a signal indicating a blade pitch failure is received, a shutdown idling control signal is sent; after sending the shutdown idling control signal, it is determined whether all blades are in the feathered position; when there are blades that are not in the feathered position, it is monitored in real time whether the shutdown action in response to the shutdown idling control signal has been completed; when it is monitored that the shutdown action has been completed, it is determined that the wind turbine generator set has entered the shutdown idling state and there are blades that are not in the feathered position.

[0034] In another embodiment, when a signal indicating a blade pitch failure is received, a shutdown idling control signal is sent; real-time monitoring is performed to determine whether the shutdown action in response to the shutdown idling control signal has been completed; when it is monitored that the shutdown action has been completed, it is determined whether all blades are in the feathered position; when there are blades that are not in the feathered position, it is determined that the wind turbine generator set has entered a shutdown idling state and there are blades that are not in the feathered position.

[0035] When it is determined in step S10 that the wind turbine generator set enters the shutdown idling state and some blades are not in the feathered position, step S20 is executed to determine whether the real-time wind speed value exceeds a preset wind speed threshold.

[0036] As an example, the real-time wind speed value may be the average value of the ambient wind speed in the current time period. For example, the length of the current time period may be 10 minutes, that is, the real-time wind speed value may be the average wind speed in the current 10 minutes. It should be understood that the length of the current time period may also be set according to actual conditions and specific needs.

[0037] As an example, the preset wind speed threshold may be set according to the vortex-induced vibration of the unit. It should be understood that the specific value of the preset wind speed threshold may be set according to actual conditions and specific requirements, for example, the preset wind speed threshold may be 35 m / s.

[0038] When it is determined in step S20 that the real-time wind speed value does not exceed the preset wind speed threshold, step S30 is executed to maintain the yaw attitude of the wind turbine generator set to continue to be in the wind-facing state. That is, at this time, it is already in the wind-facing state, and it can continue to maintain the wind-facing state to avoid the problem of vortex-induced vibration caused by yaw crosswind control under low wind speed.

[0039] It should be understood that after the wind turbine generator set enters the shutdown idling state and before the yaw attitude is adjusted, it is still in the state of facing the wind.

[0040] The state of facing the wind means that the impeller faces the incoming wind flow direction. For example, when the yaw angle of the unit is about 0 degrees, it is in the state of facing the wind.

[0041] When it is determined in step S20 that the real-time wind speed value exceeds the preset wind speed threshold, step S40 is executed to adjust the yaw attitude of the wind turbine generator set to a side-to-wind state along the allowed yaw direction, that is, to adjust the yaw attitude of the wind turbine generator set so that the impeller enters a side-to-wind state.

[0042] The side-to-wind state means that the impeller is facing the incoming wind direction. For example, when the yaw angle of the unit is about +90 degrees or -90 degrees, it is in the side-to-wind state.

[0043] Considering that the dynamic cable needs to be driven to rotate together during yaw, as an example, the allowable yaw direction can be determined by analyzing the dynamic cable angle. Of course, the allowable yaw direction can also be determined according to the real-time yaw condition of the wind turbine generator set, which is not limited here. For example, the allowable yaw direction can be clockwise and / or counterclockwise.

[0044] In step S50, after entering the side-to-wind state, it is monitored in real time whether all blades of the wind turbine generator set are in the feathered position, and the yaw attitude of the wind turbine generator set is adjusted according to the monitoring result and the real-time wind speed value.

[0045] As an example, after entering the side-to-wind state and before returning to the head-to-wind state, it is possible to monitor in real time whether all blades are in the feathered position; when all blades are in the feathered position or the real-time wind speed value does not exceed the preset wind speed threshold, the yaw attitude is adjusted to the head-to-wind state, that is, the unit is yawed head-to-wind. In addition, when there are blades that are not in the feathered position and the real-time wind speed value exceeds the preset wind speed threshold, it is still in the side-to-wind state, that is, the side-to-wind state is continued to be maintained.

[0046] As an example, the yaw control method of a wind turbine generator set according to an exemplary embodiment of the present disclosure may also include: after entering the side-to-wind state and before returning to the straight-to-wind state, real-time monitoring of whether the cabin acceleration exceeds a preset acceleration threshold; when the cabin acceleration exceeds the preset acceleration threshold, adjusting the yaw attitude along the allowable yaw direction within a preset adjustment range so that the cabin acceleration does not exceed the preset acceleration threshold. In addition, when the cabin acceleration does not exceed the preset acceleration threshold, continue to maintain the current side-to-wind state. By performing a small-range yaw adjustment, the cabin acceleration can be reduced and the vibration acceleration of the unit can be suppressed.

[0047] As an example, the preset adjustment range may be: the counterclockwise adjustment angle does not exceed 10 degrees, and the clockwise adjustment angle does not exceed 10 degrees.

[0048] As an example, after entering the side-to-wind state and before returning to the head-to-wind state, when it is detected that the cabin acceleration exceeds the preset acceleration threshold, the yaw angle may be adjusted along one of the allowed yaw directions at a preset step length (e.g., 1 degree) each time (i.e., adjusted by 1 degree each time). When the cabin acceleration after the yaw angle adjustment does not exceed the preset acceleration threshold, the adjustment is stopped; when the cabin acceleration after the yaw angle adjustment still exceeds the preset acceleration threshold, the yaw direction is adjusted by 1 degree again. When the yaw angle along the yaw direction has been adjusted for 10 degrees cumulatively, and the cabin acceleration still exceeds the preset acceleration threshold; the yaw angle is adjusted along another allowed yaw direction at a preset step length until the cabin acceleration does not exceed the preset acceleration threshold, and the adjustment is stopped.

[0049] As an example, the yaw control method of a wind turbine generator set according to an exemplary embodiment of the present disclosure may further include: after entering the wind-facing state and before entering the side-facing state, real-time monitoring whether the maintenance and overhaul conditions of the pitch system are met; when the maintenance and overhaul conditions of the pitch system are met, controlling the impeller to enter a locked state to perform maintenance and overhaul of the pitch system. In addition, when the maintenance and overhaul conditions of the pitch system are not met, determining whether all blades are in the feathering position; when there are blades that are not in the feathering position, returning to step S20.

[0050] In addition, when the maintenance and overhaul conditions of the variable pitch system are not met and all blades are in the feathered position, the impeller is still in a state of facing the wind.

[0051] As an example, maintenance and overhaul conditions for the pitch system may include: the wind speed at the hub is less than the overhaul wind speed, and the impeller is facing the wind.

[0052] As an example, the yaw control method of a wind turbine generator set according to an exemplary embodiment of the present disclosure may further include: when it is determined in step S10 that the wind turbine generator set has not completely entered the shutdown idling state, continuing to wait for the wind turbine generator set to completely enter the shutdown idling state.

[0053] As an example, the yaw control method of a wind turbine generator set according to an exemplary embodiment of the present disclosure may also include: when it is determined in step S10 that all the blades are in the feathered position, if the wind turbine generator set has not yet completely entered the shutdown idling state, continue to wait for the wind turbine generator set to completely enter the shutdown idling state; if the wind turbine generator set has completely entered the shutdown idling state, keep the impeller in a state facing the wind.

[0054] It should be understood that when there are blades that are not in the feathered position, attempts will be made to pitch the blades that are not in the feathered position to the feathered position.

[0055] According to an exemplary embodiment of the present disclosure, direct facing wind is used to reduce vortex-induced vibration of the unit under low wind speeds, and side facing wind is used to reduce aerodynamic imbalance within the impeller surface and reduce the ultimate load of unit components under high wind speeds, and the cabin acceleration is monitored in real time to ensure the stability of the unit and ensure the safety and reliability of the unit.

[0056] According to the exemplary embodiments of the present disclosure, it is possible to reduce the ultimate loads of the blade root, hub and yaw system by more than 40% when a traditional blade stuck failure causes shutdown and idling, accompanied by a 10-minute extreme wind speed environment that occurs once a year, thereby effectively reducing the development cost of the unit and facilitating grid parity for wind power generation.

[0057] Figure 2 A flow chart showing a yaw control method of a wind turbine generator system according to another exemplary embodiment of the present disclosure is shown.

[0058] Reference Figure 2 In step S101, when a blade failure of the unit is detected, shutdown idling control is triggered.

[0059] After step S101 , step S102 is executed to determine whether any blade is not retracted, that is, to determine whether any blade is not fully retracted to the feathered position.

[0060] When it is determined in step S102 that a blade has not been retracted, step S103 is executed to determine whether the shutdown action has been completed.

[0061] When it is determined in step S103 that the shutdown action has been completed, step S104 is executed to determine whether the real-time wind speed value exceeds a preset wind speed threshold.

[0062] When it is determined in step S104 that the real-time wind speed value exceeds the preset wind speed threshold, step S105 is executed to evaluate the allowed yaw direction.

[0063] After step S105, step S106 is executed to perform yaw side wind control along the allowed yaw direction.

[0064] After step S106, step S107 is executed to determine whether all blades are fully retracted.

[0065] When it is determined in step S107 that all blades have been retracted, step S108 is executed to perform yaw-to-wind control.

[0066] When it is determined in step S107 that the blades are not retracted, step S109 is executed to determine whether the nacelle acceleration exceeds a preset acceleration threshold.

[0067] When it is determined in step S109 that the cabin acceleration exceeds the preset acceleration threshold, step S110 is executed to perform a small range yaw adjustment to reduce the cabin acceleration.

[0068] When it is determined in step S109 that the nacelle acceleration does not exceed the preset acceleration threshold, step S111 is executed to determine whether the real-time wind speed value is less than or equal to the preset wind speed threshold.

[0069] When it is determined in step S111 that the real-time wind speed value is less than or equal to the preset wind speed threshold, step S108 is executed.

[0070] When it is determined in step S111 that the real-time wind speed value is greater than the preset wind speed threshold, step S107 is executed.

[0071] After step S108, step S112 is executed to determine whether the maintenance and overhaul conditions of the pitch system are met.

[0072] When it is determined in step S112 that the maintenance and overhaul condition of the pitch system is not met, step S104 is executed.

[0073] When it is determined in step S104 that the real-time wind speed value does not exceed the preset wind speed threshold, step S108 is executed to continue to maintain the facing wind state or adjust the yaw to the facing wind state.

[0074] When it is determined in step S102 that the blades are all retracted, step S112 is executed.

[0075] Figure 3 A structural block diagram of a yaw control device of a wind turbine generator set according to an exemplary embodiment of the present disclosure is shown.

[0076] like Figure 3 As shown, the yaw control device of a wind turbine generator set according to an exemplary embodiment of the present disclosure includes: a wind speed determination unit 10 and a yaw adjustment unit 20 .

[0077] Specifically, the wind speed judgment unit 10 is configured to determine whether the real-time wind speed value exceeds a preset wind speed threshold when the wind turbine generator set enters a shutdown idling state and a blade is not in a feathered position.

[0078] The shutdown idling state is a retracted shutdown state with the impeller idling.

[0079] The yaw adjustment unit 20 is configured to: when the real-time wind speed value does not exceed the preset wind speed threshold, maintain the yaw attitude of the wind turbine to continue to be in the wind-facing state; when the real-time wind speed value exceeds the preset wind speed threshold, adjust the yaw attitude of the wind turbine to the side-to-wind state; after entering the side-to-wind state, monitor in real time whether all blades of the wind turbine are in the feathered position, and adjust the yaw attitude of the wind turbine according to the monitoring results and the real-time wind speed value.

[0080] As an example, the yaw adjustment unit 20 can be configured to: after entering the side-to-wind state, monitor in real time whether all blades are in the feathered position; when all blades are in the feathered position or the real-time wind speed value does not exceed the preset wind speed threshold, adjust the yaw attitude to the head-to-wind state.

[0081] As an example, the yaw adjustment unit 20 can also be configured to: after entering the side-to-wind state, monitor in real time whether the cabin acceleration exceeds a preset acceleration threshold; when the cabin acceleration exceeds the preset acceleration threshold, adjust the yaw attitude along the allowable yaw direction within a preset adjustment range so that the cabin acceleration does not exceed the preset acceleration threshold.

[0082] The allowable yaw direction may be determined according to the real-time yaw condition of the wind turbine generator set.

[0083] As an example, the yaw control device of the wind turbine generator set according to the exemplary embodiment of the present disclosure may also include: a maintenance and overhaul determination unit (not shown), which is configured to: after entering the wind-facing state, monitor in real time whether the maintenance and overhaul conditions of the pitch system are met; when the maintenance and overhaul conditions of the pitch system are met, control the impeller to enter a locked state to perform maintenance and overhaul of the pitch system. In addition, when the maintenance and overhaul conditions of the pitch system are not met, it can be determined whether all blades are in the feathering position; wherein, when there is a blade that is not in the feathering position, the wind speed judgment unit 10 determines whether the real-time wind speed value exceeds the preset wind speed threshold.

[0084] As an example, the yaw control device of a wind turbine generator set according to an exemplary embodiment of the present disclosure may further include: a state identification unit (not shown), the state identification unit being configured to determine that the wind turbine generator set has entered a shutdown idling state and there is a blade that is not in the feathered position when it is monitored that the shutdown action in response to the shutdown idling control signal has been completed and there is still at least one blade that is not in the feathered position, wherein the shutdown idling control signal is generated in response to a blade pitch failure.

[0085] As an example, the yaw control device may be provided in a yaw control system or a main controller of a wind turbine generator set.

[0086] It should be understood that the specific processing performed by the yaw control device of the wind turbine generator set according to the exemplary embodiment of the present disclosure has been referred to. Figure 1 to Figure 2 The details have been described in detail and will not be repeated here.

[0087] It should be understood that each unit in the yaw control device of the wind turbine generator set according to the exemplary embodiment of the present disclosure can be implemented as a hardware component and / or a software component. Those skilled in the art can implement each unit, for example, using a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC) according to the processing performed by each defined unit.

[0088] An exemplary embodiment of the present disclosure provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to execute the yaw control method of a wind turbine generator set as described in the above exemplary embodiment. The computer-readable storage medium is any data storage device that can store data read by a computer system. Examples of computer-readable storage media include: read-only memory, random access memory, read-only optical disk, magnetic tape, floppy disk, optical data storage device, and carrier wave (such as data transmission through the Internet via a wired or wireless transmission path).

[0089] A controller according to an exemplary embodiment of the present disclosure includes: a processor (not shown) and a memory (not shown), wherein the memory stores a computer program, and when the computer program is executed by the processor, it prompts the processor to execute the yaw control method of the wind turbine generator set as described in the above exemplary embodiment.

[0090] As an example, the controller may be arranged in a yaw control system or a main controller of a wind turbine generator set.

[0091] A wind turbine generator set according to an exemplary embodiment of the present disclosure includes: the yaw control device as described in the above exemplary embodiment, or the controller as described in the above exemplary embodiment.

[0092] Although some exemplary embodiments of the present disclosure have been shown and described, it will be appreciated by those skilled in the art that modifications may be made to these embodiments without departing from the principles and spirit of the present disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A yaw control method for a wind turbine generator set, characterized in that: include: When the wind turbine generator set enters a shutdown idling state and a blade is not in a feathered position, determining whether the real-time wind speed value exceeds a preset wind speed threshold; When the real-time wind speed value does not exceed the preset wind speed threshold, the yaw attitude of the wind turbine generator set is maintained to continue to be in a state of facing the wind; When the real-time wind speed value exceeds the preset wind speed threshold, the yaw attitude of the wind turbine generator set is adjusted to a side-to-wind state; After entering the side-to-wind state, monitor in real time whether the cabin acceleration exceeds the preset acceleration threshold; When the acceleration of the nacelle exceeds a preset acceleration threshold, adjusting the yaw attitude of the wind turbine generator set along the allowable yaw direction within a preset adjustment range so that the acceleration of the nacelle does not exceed the preset acceleration threshold; After entering the side-to-wind state, monitor in real time whether all blades of the wind turbine are in the feathered position, and adjust the yaw attitude of the wind turbine according to the monitoring results and the real-time wind speed value; The shutdown idling state is a shutdown state in which the impeller is idling and the propellers are retracted.

2. The yaw control method according to claim 1, characterized in that: The steps of adjusting the yaw attitude of the wind turbine generator set according to the monitoring results and the real-time wind speed value include: When all blades are in the feathered position or the real-time wind speed value does not exceed the preset wind speed threshold, the yaw attitude of the wind turbine generator set is adjusted to the wind-facing state.

3. The yaw control method according to claim 1, characterized in that: The allowable yaw direction is determined according to the real-time yaw condition of the wind turbine generator set.

4. The yaw control method according to claim 1 or 2, characterized in that: Also includes: After entering the windward state, real-time monitoring is performed to determine whether the maintenance and overhaul conditions of the pitch system are met; When the maintenance and overhaul conditions of the pitch system are met, the impeller is controlled to enter a locked state to perform maintenance and overhaul of the pitch system.

5. The yaw control method according to claim 1, characterized in that: Also includes: When it is detected that the shutdown action in response to the shutdown idling control signal has been completely completed and at least one blade is still not in the feathered position, it is determined that the wind turbine generator set has entered the shutdown idling state and there is a blade that is not in the feathered position, The shutdown idling control signal is generated in response to a blade pitch failure.

6. A yaw control device for a wind turbine generator set, characterized in that: include: The wind speed judgment unit is configured to determine whether the real-time wind speed value exceeds a preset wind speed threshold when the wind turbine generator set enters a shutdown idling state and a blade is not in a feathered position; The yaw adjustment unit is configured to: when the real-time wind speed value does not exceed the preset wind speed threshold, maintain the yaw attitude of the wind turbine generator set so as to continue to be in a state of facing the wind; When the real-time wind speed value exceeds the preset wind speed threshold, the yaw attitude of the wind turbine generator set is adjusted to a side-to-wind state; After entering the side-to-wind state, monitor in real time whether the cabin acceleration exceeds the preset acceleration threshold; When the acceleration of the nacelle exceeds a preset acceleration threshold, adjusting the yaw attitude of the wind turbine generator set along the allowable yaw direction within a preset adjustment range so that the acceleration of the nacelle does not exceed the preset acceleration threshold; After entering the side-to-wind state, monitor in real time whether all blades of the wind turbine are in the feathered position, and adjust the yaw attitude of the wind turbine according to the monitoring results and the real-time wind speed value; The shutdown idling state is a shutdown state in which the impeller is idling and the propellers are retracted.

7. The yaw control device according to claim 6, characterized in that: The yaw control device is arranged in a yaw control system or a main controller of the wind turbine generator set.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the processor is prompted to execute the yaw control method for a wind turbine generator set according to any one of claims 1 to 5.

9. A controller, characterized in that: include: processor; A memory storing a computer program, which, when executed by a processor, prompts the processor to execute the yaw control method for a wind turbine generator set according to any one of claims 1 to 5.

10. The controller according to claim 9, characterized in that: The controller is arranged in a yaw control system or a main controller of the wind turbine generator set.

11. A wind turbine generator set, characterized in that: The wind turbine generator set includes the yaw control device according to claim 6 or 7, or the wind turbine generator set includes the controller according to claim 9 or 10.

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